Feature/pass through tracker

.github/workflows/build-and-test-differential.yaml

@@ -42,7 +42,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false

.github/workflows/build-and-test.yaml

@@ -41,7 +41,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false

.github/workflows/sync-upstream.yaml

@@ -0,0 +1,28 @@
+name: sync-upstream
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git
+          sync-target-branch: main
+          pr-title: "chore: sync upstream"
+          auto-merge-method: merge

.markdownlint.yaml

@@ -1,7 +1,9 @@
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
 MD024:
   siblings_only: true
 MD033: false
 MD041: false
 MD046: false
+MD049: false

.prettierrc.yaml

@@ -1,2 +1,20 @@
 printWidth: 100
 tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore

CPPLINT.cfg

@@ -11,3 +11,4 @@ filter=-whitespace/parens         # we allow closing parenthesis to be on the ne
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
 filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
 filter=-build/include_order       # we use the custom include order
+filter=-build/include_subdir      # we allow the style of "foo.hpp"

common/goal_distance_calculator/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>goal_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The goal_distance_calculator package </description>
+  <description>The goal_distance_calculator package</description>
   <maintainer email="ttatcoder@outlook.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
 

common/path_distance_calculator/package.xml

@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-
   <name>path_distance_calculator</name>
   <version>0.0.0</version>
   <description>The path_distance_calculator package</description>
@@ -20,5 +19,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

common/polar_grid/package.xml

@@ -24,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_api_utils/package.xml

@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-
   <name>tier4_api_utils</name>
   <version>0.0.0</version>
   <description>The tier4_api_utils package</description>
@@ -24,5 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

common/tier4_datetime_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_datetime_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The tier4_datetime_rviz_plugin package</description>
@@ -22,5 +21,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_localization_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_localization_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_localization_rviz_plugin package</description>
@@ -25,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_planning_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_planning_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_planning_rviz_plugin package</description>
@@ -28,5 +27,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_simulated_clock_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_simulated_clock_rviz_plugin</name>
   <version>0.0.1</version>
   <description>Rviz plugin to publish and control the /clock topic</description>
@@ -23,5 +22,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

common/tier4_state_rviz_plugin/package.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_state_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The autoware state rviz plugin package</description>
@@ -26,5 +25,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>

control/shift_decider/package.xml

@@ -21,5 +21,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

launch/tier4_vehicle_launch/package.xml

@@ -7,7 +7,6 @@
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
 
-
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>robot_state_publisher</exec_depend>

localization/ekf_localizer/package.xml

@@ -29,5 +29,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>

map/util/lanelet2_map_preprocessor/package.xml

@@ -9,25 +9,21 @@
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="mitsudome-r@todo.todo">mitsudome-r</maintainer>
 
-
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>Apache License 2.0</license>
 
-
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
   <!-- <url type="website">http://wiki.ros.org/lanelet2_map_preprocessor</url> -->
 
-
   <!-- Author tags are optional, multiple are allowed, one per tag -->
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
 
-
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
@@ -59,10 +55,8 @@
   <exec_depend>pcl_ros</exec_depend>
   <exec_depend>roscpp</exec_depend>
 
-
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

perception/multi_object_tracker/CMakeLists.txt

@@ -38,6 +38,7 @@ set(MULTI_OBJECT_TRACKER_SRC
   src/tracker/model/pedestrian_tracker.cpp
   src/tracker/model/pedestrian_and_bicycle_tracker.cpp
   src/tracker/model/unknown_tracker.cpp
+  src/tracker/model/pass_through_tracker.cpp
   src/data_association/data_association.cpp
 )
 

perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp

@@ -55,6 +55,8 @@ class MultiObjectTracker : public rclcpp::Node
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
+  bool use_pass_through_tracker_;
+
   void onMeasurement(
     const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg);
   void onTimer();

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp

@@ -0,0 +1,47 @@
+// Copyright 2022 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+//
+// Author: v1.0 Yutaka Shimizu
+//
+
+#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
+#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
+
+#include "tracker_base.hpp"
+
+#include <kalman_filter/kalman_filter.hpp>
+
+class PassThroughTracker : public Tracker
+{
+private:
+  autoware_auto_perception_msgs::msg::DetectedObject object_;
+  autoware_auto_perception_msgs::msg::DetectedObject prev_observed_object_;
+  rclcpp::Logger logger_;
+  rclcpp::Time last_update_time_;
+
+public:
+  PassThroughTracker(
+    const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object);
+  bool predict(const rclcpp::Time & time) override;
+  bool measure(
+    const autoware_auto_perception_msgs::msg::DetectedObject & object,
+    const rclcpp::Time & time) override;
+  bool getTrackedObject(
+    const rclcpp::Time & time,
+    autoware_auto_perception_msgs::msg::TrackedObject & object) const override;
+  virtual ~PassThroughTracker() {}
+};
+
+#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_

perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp

@@ -23,6 +23,7 @@
 #include "model/big_vehicle_tracker.hpp"
 #include "model/multiple_vehicle_tracker.hpp"
 #include "model/normal_vehicle_tracker.hpp"
+#include "model/pass_through_tracker.hpp"
 #include "model/pedestrian_and_bicycle_tracker.hpp"
 #include "model/pedestrian_tracker.hpp"
 #include "model/tracker_base.hpp"

perception/multi_object_tracker/launch/multi_object_tracker.launch.xml

@@ -5,13 +5,15 @@
   <arg name="output" default="objects"/>
   <arg name="world_frame_id" default="map"/>
   <arg name="publish_rate" default="10.0"/>
+  <arg name="use_pass_through_tracker" default="false"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share multi_object_tracker)/config/data_association_matrix.param.yaml" />
 
   <node pkg="multi_object_tracker" exec="multi_object_tracker" name="multi_object_tracker" output="screen">
     <remap from="input" to="$(var input)"/>
     <remap from="output" to="$(var output)"/>
     <param name="world_frame_id" value="$(var world_frame_id)" />
     <param name="publish_rate" value="$(var publish_rate)" />
+    <param name="use_pass_through_tracker" value="$(var use_pass_through_tracker)" />
     <param from="$(var data_association_matrix_path)" />
   </node>
 </launch>

perception/multi_object_tracker/src/multi_object_tracker_core.cpp

@@ -175,6 +175,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   double publish_rate = declare_parameter<double>("publish_rate", 30.0);
   world_frame_id_ = declare_parameter<std::string>("world_frame_id", "world");
   bool enable_delay_compensation{declare_parameter("enable_delay_compensation", false)};
+  use_pass_through_tracker_ = declare_parameter("use_pass_through_tracker", false);
 
   auto cti = std::make_shared<tf2_ros::CreateTimerROS>(
     this->get_node_base_interface(), this->get_node_timers_interface());
@@ -264,6 +265,11 @@ std::shared_ptr<Tracker> MultiObjectTracker::createNewTracker(
   const autoware_auto_perception_msgs::msg::DetectedObject & object,
   const rclcpp::Time & time) const
 {
+  if (use_pass_through_tracker_) {
+    std::cerr << "use pass through tracker" << std::endl;
+    return std::make_shared<PassThroughTracker>(time, object);
+  }
+
   const std::uint8_t label = utils::getHighestProbLabel(object.classification);
   if (label == Label::CAR || label == Label::TRUCK || label == Label::BUS) {
     return std::make_shared<MultipleVehicleTracker>(time, object);